robotic 0.3.1__cp38-cp38-manylinux2014_x86_64.whl → 0.3.1.dev1__cp38-cp38-manylinux2014_x86_64.whl

robotic/DataGen.pyi

@@ -48,10 +48,18 @@ class ShapenetGrasps:
         """
     def getConfig(self) -> _robotic.Config:
         ...
+    def getEvalGripperPoses(self) -> arr:
+        """
+        return the relative gripper after each motion phase: esp. poses[1] (after closing fingers) is interesting; the later ones allow you to estimate relative motion yourself)
+        """
     def getPointCloud(self) -> arr:
         """
         (direct interface) return pcl of loaded object
         """
+    def getPointNormals(self) -> arr:
+        """
+        (direct interface) return point normals of the pcl of loaded object
+        """
     def getSamples(self, nSamples: int) -> tuple[arr, uintA, arr]:
         """
         (batch interface) return three arrays: samples X, contexts Z, scores S (each row are scores for one sample - see evaluateSamples)
@@ -60,11 +68,13 @@ class ShapenetGrasps:
         """
         (direct interface) clear scene and load object and gripper
         """
+    def resetObjectPose(self, idx: int = 0, rndOrientation: bool = True) -> None:
+        ...
     def sampleGraspPose(self) -> arr:
         """
         (direct interface) return (relative) pose of random sampled grasp candidate
         """
-    def setGraspPose(self, pose: arr, objPts: str = 'objPts0') -> None:
+    def setGraspPose(self, pose: arr, objPts: str = 'obj0_pts') -> None:
         """
         (direct interface) set (relative) pose of grasp candidate
         """

robotic/_robotic.pyi

@@ -103,6 +103,14 @@ class BotOp:
         """
         constructor
         """
+    def attach(self, gripper: ..., obj: ...) -> None:
+        """
+        cheating: attach two objects kinematically
+        """
+    def detach(self, obj: ...) -> None:
+        """
+        cheating: detach two previously attached objects
+        """
     def getCameraFxycxy(self, sensorName: str) -> arr:
         """
         returns camera intrinsics
@@ -315,7 +323,7 @@ class Config:
         """
         returns the list of collisable pairs -- this should help debugging the 'contact' flag settings in a configuration
         """
-    def getCollisions(self, belowMargin: float = 1.0) -> list:
+    def getCollisions(self, belowMargin: float = 0.0) -> list:
         """
         return the results of collision computations: a list of 3 tuples with (frame1, frame2, distance). Optionally report only on distances below a margin To get really precise distances and penetrations use the FS.distance feature with the two frame names
         """
@@ -403,40 +411,10 @@ class Config:
         """
         close the view
         """
-    def view_focalLength(self) -> float:
-        """
-        return the focal length of the view camera (only intrinsic parameter)
-        """
-    def view_focus(self, frameName: str, absHeight: float = 2.0) -> None:
-        """
-        focus on a particular frame, given via name; second argument distances camara so that view window has roughly given absHeight around object
-        """
-    def view_fxycxy(self) -> arr:
-        """
-        return (fx, fy, cx, cy): the focal length and image center in PIXEL UNITS
-        """
-    def view_getDepth(self) -> numpy.ndarray[numpy.float32]:
-        ...
-    def view_getRgb(self) -> numpy.ndarray[numpy.uint8]:
-        ...
-    def view_pose(self) -> arr:
-        """
-        return the 7D pose of the view camera
-        """
-    def view_raise(self) -> None:
-        """
-        raise the view
-        """
     def view_recopyMeshes(self) -> None:
         ...
-    def view_savePng(self, pathPrefix: str = 'z.vid/') -> None:
-        """
-        saves a png image of the current view, numbered with a global counter, with the intention to make a video
-        """
-    def view_setCamera(self, arg0: Frame) -> None:
-        """
-        set the camera pose to a frame, and check frame attributes for intrinsic parameters (focalLength, width height)
-        """
+    def viewer(self, window_title: str = None, offscreen: bool = False) -> ...:
+        ...
     def watchFile(self, arg0: str) -> None:
         """
         launch a viewer that listents (inode) to changes of a file (made by you in an editor), and reloads, displays and animates the configuration whenever the file is changed
@@ -468,9 +446,61 @@ class ConfigurationViewer:
     @staticmethod
     def _pybind11_conduit_v1_(*args, **kwargs):
         ...
+    def focus(self, position_7d: arr, heightAbs: float = 1.0) -> None:
+        """
+        focus at a 3D position; second argument distances camara so that view window has roughly given absHeight around object
+        """
+    def getCamera_focalLength(self) -> float:
+        """
+        return the focal length of the view camera (only intrinsic parameter)
+        """
+    def getCamera_fxycxy(self) -> arr:
+        """
+        return (fx, fy, cx, cy): the focal length and image center in PIXEL UNITS
+        """
+    def getCamera_pose(self) -> arr:
+        """
+        get the camera pose directly
+        """
+    def getDepth(self) -> ...:
+        """
+        return the view's depth array (scaled to meters)
+        """
+    def getEventCursor(self) -> arr:
+        """
+        return the position and normal of the 'curser': mouse position 3D projected into scene via depth, and 3D normal of depth map -- returned as 6D vector
+        """
+    def getEventCursorObject(self) -> int:
+        """
+        (aka mouse picking) return the frame ID (or -1) that the 'cursor' currently points at
+        """
+    def getEvents(self) -> StringA:
+        """
+        return accumulated events as list of strings
+        """
+    def getRgb(self) -> ...:
+        """
+        return the view's rgb image
+        """
+    def raiseWindow(self) -> None:
+        """
+        raise the window
+        """
     def savePng(self, saveVideoPath: ... = 'z.vid/', count: int = -1) -> None:
         """
-        save enumerated pngs in a path - for video making
+        saves a png image of the current view, numbered with a global counter, with the intention to make a video
+        """
+    def setCamera(self, camFrame: Frame) -> None:
+        """
+        set the camera pose to a frame, and check frame attributes for intrinsic parameters (focalLength, width height)
+        """
+    def setCameraPose(self, pose_7d: arr) -> None:
+        """
+        set the camera pose directly
+        """
+    def setupEventHandler(self, blockDefaultHandler: bool) -> None:
+        """
+        setup callbacks to grab window events and return them with methods below
         """
     def visualsOnly(self, _visualsOnly: bool = True) -> None:
         """
@@ -722,10 +752,6 @@ class Frame:
     @staticmethod
     def _pybind11_conduit_v1_(*args, **kwargs):
         ...
-    def addAttributes(self, arg0: dict) -> None:
-        """
-        add/set attributes for the frame
-        """
     def asDict(self) -> dict:
         ...
     def computeCompoundInertia(self) -> Frame:
@@ -776,8 +802,10 @@ class Frame:
         ...
     def makeRoot(self, untilPartBreak: bool) -> None:
         ...
-    def setAttribute(self, arg0: str, arg1: float) -> Frame:
-        ...
+    def setAttributes(self, arg0: dict) -> Frame:
+        """
+        set attributes for the frame
+        """
     def setColor(self, arg0: arr) -> Frame:
         ...
     def setContact(self, arg0: int) -> Frame:
@@ -792,6 +820,10 @@ class Frame:
         ...
     def setJointState(self, arg0: arr) -> Frame:
         ...
+    def setLines(self, verts: arr, colors: ... = ..., singleConnectedLine: bool = False) -> Frame:
+        """
+        attach lines as shape
+        """
     def setMass(self, mass: float, inertiaMatrix: arr = ...) -> Frame:
         ...
     def setMesh(self, vertices: arr, triangles: uintA, colors: ... = ..., cvxParts: uintA = ...) -> Frame:

robotic/include/rai/DataGen/shapenetGrasps.h

@@ -32,17 +32,19 @@ struct ShapenetGrasps{
   bool loadObject(uint shape, bool rndOrientation=true);
   void resetObjectPose(int idx=0, bool rndOrientation=true);
   arr getPointCloud();
+  arr getPointNormals();
   arr sampleGraspPose();
-  void setGraspPose(const arr& pose, const char* objPts="objPts0");
+  void setGraspPose(const arr& pose, const char* objPts="obj0_pts");
   arr evaluateGrasp();
 
 
   rai::Configuration C;
   StringA files;
+  arr evalGripperPoses;
 
 private:
   void clearScene();
-  bool addSceneObject(const char* file, int idx, bool rndOri=true, bool visual=false);
+  bool addSceneObject(const char* file, int idx, bool rndOri=true);
 };
 
 arr sampleGraspCandidate(rai::Configuration& C, const char *ptsFrame, const char* refFrame, double pregraspNormalSdv=.2, int verbose=1);

robotic/include/rai/Gui/opengl.h

@@ -107,8 +107,8 @@ void write_png(const byteA& img, const char* file_name, bool swap_rows=true);
 struct OpenGL {
   /// @name little structs to store objects and callbacks
   struct GLHoverCall { virtual bool hoverCallback(OpenGL&) = 0; };
-  struct GLClickCall { virtual bool clickCallback(OpenGL&) = 0; };
-  struct GLKeyCall  { virtual bool keyCallback(OpenGL&) = 0; };
+  struct GLClickCall { virtual bool clickCallback(OpenGL&, int button, int buttonIsDown) = 0; };
+  struct GLKeyCall  { virtual bool keyCallback(OpenGL&, int key, int mods, bool keyIsDown) = 0; };
   struct GLScrollCall { virtual bool scrollCallback(OpenGL&, int) = 0; };
   struct GLEvent    { int button, key, x, y; float dx, dy; void set(int b, int k, int _x, int _y, float _dx, float _dy) { button=b; key=k; x=_x; y=_y; dx=_dx; dy=_dy; } };
   struct GLView     { double le, ri, bo, to;  rai::Array<rai::RenderData*> drawers;  rai::Camera camera;  GLView() { le=bo=0.; ri=to=1.; }  str text; };
@@ -147,7 +147,7 @@ struct OpenGL {
   Signaler isUpdating;
   Signaler watching;
   OpenGLDrawOptions drawOptions;
-  uint selectID;
+  int selectID=-1;
   std::shared_ptr<rai::RenderData> _data;
 
   bool fullscreen=false; ///<window starts in fullscreenmode on the primary screen

robotic/include/rai/KOMO/komo.h

@@ -203,7 +203,7 @@ struct KOMO : NonCopyable {
   int view_slice(uint t, bool pause=false);
   void view_close();
   std::shared_ptr<rai::ConfigurationViewer> get_viewer();
-  void set_viewer(std::shared_ptr<rai::ConfigurationViewer>& _viewer);
+  void set_viewer(const std::shared_ptr<rai::ConfigurationViewer>& _viewer);
 
 
   void plotTrajectory();

robotic/include/rai/Kin/frame.h

@@ -169,7 +169,7 @@ struct Frame : NonCopyable {
   Frame& setMesh(const arr& verts, const uintA& tris, const byteA& colors={}, const uintA& cvxParts={});
   Frame& setMeshFile(str file, double scale=1.);
   Frame& setTextureFile(str imgFile, const arr& texCoords={});
-  Frame& setLines(const arr& verts, const byteA& colors={});
+  Frame& setLines(const arr& verts, const byteA& colors={}, bool singleConnectedLine=false);
   Frame& setPointCloud(const arr& points, const byteA& colors= {}, const arr& normals= {});
   Frame& setConvexMesh(const arr& points, const byteA& colors= {}, double radius=0.);
   Frame& setSdf(std::shared_ptr<SDF>& sdf);

robotic/include/rai/Kin/kin.h

@@ -271,7 +271,7 @@ public:
   void addProxies(const uintA& collisionPairs);
 
   /// @name extensions on demand
-  std::shared_ptr<ConfigurationViewer>& get_viewer(const char* window_title=nullptr, bool offscreen=false);
+  std::shared_ptr<ConfigurationViewer> get_viewer(const char* window_title=nullptr, bool offscreen=false);
   OpenGL& gl();
   void view_lock(const char* _lockInfo);
   void view_unlock();
@@ -280,15 +280,13 @@ public:
   FeatherstoneInterface& fs();
   bool hasView();
   int view(bool pause=false, const char* txt=nullptr);
-  void view_savePng(str saveVideoPath="z.vid/", int count=-1);
   void saveVideoPic(uint& t, const char* pathPrefix="vid/");
   void glAdd(void (*call)(void*, OpenGL&), void* classP);
   int glAnimate();
   void view_close();
-  void view_focus(const char* frameName, double heightAbs=1.);
   void view_setCameraPose(const arr& pose);
   arr view_getCameraPose();
-  void set_viewer(std::shared_ptr<ConfigurationViewer>& _viewer);
+  void set_viewer(const std::shared_ptr<ConfigurationViewer>& _viewer);
   void coll_stepFcl();
   void stepPhysx(double tau);
   void stepOde(double tau);

robotic/include/rai/Kin/simulation.h

@@ -126,8 +126,8 @@ struct TeleopCallbacks : OpenGL::GLClickCall, OpenGL::GLKeyCall, OpenGL::GLHover
   TeleopCallbacks(rai::Configuration& C, rai::Frame* marker=0) : C(C), marker(marker) { q_ref = C.getJointState(); }
 
   bool hasNewMarker();
-  virtual bool clickCallback(OpenGL& gl);
-  virtual bool keyCallback(OpenGL& gl);
+  virtual bool clickCallback(OpenGL& gl, int button, int buttonIsDown);
+  virtual bool keyCallback(OpenGL& gl, int key, int mods, bool _keyIsDown);
   virtual bool hoverCallback(OpenGL& gl);
 };
 

robotic/include/rai/Kin/viewer.h

@@ -41,7 +41,16 @@ struct ConfigurationViewer : RenderData {
 
   void raiseWindow();
   void glDraw(OpenGL&);
-  void setCamera(rai::Frame* cam);
+  void setCamera(rai::Frame* camFrame);
+  void setCameraPose(const arr& pose);
+  void focus(const arr& position, double heightAbs=1.);
+  arr getCameraPose();
+
+  void setupEventHandler(bool blockDefaultHandler);
+  StringA getEvents();
+  arr getEventCursor();
+  uint getEventCursorObject();
+  Mutex& getEventsMutex();
 
   //mimic a OpenGL, directly calling the same methods in its gl
   void _resetPressedKey();
@@ -51,6 +60,7 @@ private://draw data
   bool abortPlay;
   uint pngCount=0;
   bool drawFrameLines=true;
+  shared_ptr<struct ViewerEventHandler> eventHandler;
 public:
   int drawSlice;
   String text;

robotic/rai-robotModels/panda/panda_gripper.g

@@ -2,9 +2,7 @@ panda_hand: {  }
 panda_hand_0(panda_hand): { shape: mesh, mesh: <meshes/hand.h5>, visual: True }
 panda_finger_joint1_origin(panda_hand): { Q: [0, 0, 0.0584, 1, 0, 0, 0] }
 panda_finger_joint2_origin(panda_hand): { Q: [0, 0, 0.0584, 1, 0, 0, 0] }
-panda_finger_joint1(panda_finger_joint1_origin): { joint: transY, limits: [0, 0.04, 0.2, -1, 20], ctrl_limits: [0.2, -1, 20] }
-panda_finger_joint2(panda_finger_joint2_origin): { joint: transY, joint_scale: -1, limits: [0, 0.04, 0.2, -1, 20], mimic: "panda_finger_joint1", ctrl_limits: [0.2, -1, 20] }
-panda_leftfinger(panda_finger_joint1): {  }
-panda_rightfinger(panda_finger_joint2): {  }
-panda_leftfinger_0(panda_leftfinger): { shape: mesh, mesh: <meshes/finger.h5>, visual: True }
-panda_rightfinger_0(panda_rightfinger): { Q: [0, 0, 0, -1.03412e-13, 0, 0, 1], shape: mesh, mesh: <meshes/finger.h5>, visual: True }
+panda_finger_joint1(panda_finger_joint1_origin): { joint: transY, limits: [0, 0.04, 0.2, -1, 20], ctrl_limits: [0.2, -1, 20], motorKp=100, motorKd=10 }
+panda_finger_joint2(panda_finger_joint2_origin): { joint: transY, joint_scale: -1, limits: [0, 0.04, 0.2, -1, 20], mimic: "panda_finger_joint1", ctrl_limits: [0.2, -1, 20], motorKp=100, motorKd=10 }
+panda_leftfinger(panda_finger_joint1): { shape: mesh, mesh: <meshes/finger.h5>, visual: True, mass: .05 }
+panda_rightfinger(panda_finger_joint2): { Q: [0, 0, 0, -1.03412e-13, 0, 0, 1], shape: mesh, mesh: <meshes/finger.h5>, visual: True, mass: .05 }

robotic/rai-robotModels/scenarios/pandaFloatingGripper.g

@@ -1,4 +1,4 @@
-base { multibody, multibody_gravity: false }
+base { multibody, multibody_gravity: false, mass: 1. }
 
 floatX (base){ joint:transX, limits:[-2 2], mass:.01 }
 floatY (floatX){ joint:transY, limits:[-2 2], mass:.01 }

robotic/src/mujoco_io.py

@@ -34,7 +34,7 @@ class MujocoLoader():
 
         self.C = ry.Config()
         self.base = self.C.addFrame('base')
-        self.base.addAttributes({'multibody':True})
+        self.base.setAttributes({'multibody':True})
         self.base.setPosition(basePos)
         self.base.setQuaternion(baseQuat)
         self.add_node(root, self.base, path, 0)

robotic/version.py

@@ -1 +1 @@
-__version__ = '0.3.1'
+__version__ = '0.3.1.dev1'

{robotic-0.3.1.dist-info → robotic-0.3.1.dev1.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: robotic
-Version: 0.3.1
+Version: 0.3.1.dev1
 Summary: Robotic Control Interface & Manipulation Planning Library
 Home-page: https://github.com/MarcToussaint/robotic/
 Author: Marc Toussaint
@@ -29,8 +29,9 @@ Lab](https://argmin.lis.tu-berlin.de/)) operate our robots.
 
 * The pip package was compiled for python3.8 .. 3.12, and most of the dependencies statically linked. A few are still loaded dynamically, which requires installing on Ubuntu:
 
-      sudo apt install liblapack3 freeglut3-dev libglu1-mesa libfreetype6 fonts-ubuntu python3 python3-pip
-      #latest Ubuntu: libglut3.12 and 'cd /usr/lib/x86_64-linux-gnu/ && sudo ln -s libglut.so.3.12 libglut.so.3'
+      sudo apt install liblapack3 freeglut3-dev libglu1-mesa libxrandr2 libfreetype6 fonts-ubuntu python3 python3-pip
+      #in latest Ubuntu also:
+	  cd /usr/lib/x86_64-linux-gnu/ && sudo ln -s libglut.so.3.12 libglut.so.3
 
 * Pip install:
 
@@ -49,14 +50,15 @@ Lab](https://argmin.lis.tu-berlin.de/)) operate our robots.
       make run -j1
 	  make run_demos -j1
 
-* Tested in latest ubuntu docker (using a venv):
+* Test in a clean ubuntu:latest docker (starting with `xhost +local:root && docker run -it --env="DISPLAY" --network host ubuntu:latest`):
 
-      apt install --yes liblapack3 xorg freeglut3-dev libglu1-mesa libfreetype6 fonts-ubuntu python3 python3-pip python3-venv
+      apt update
+      env DEBIAN_FRONTEND=noninteractive apt install --yes liblapack3 freeglut3-dev libglu1-mesa libxrandr2 libfreetype6 fonts-ubuntu python3 python3-pip python3-venv
       cd /usr/lib/x86_64-linux-gnu/ && ln -s libglut.so.3.12 libglut.so.3
-      cd
       python3 -m venv ~/venv
       source ~/venv/bin/activate
       pip install robotic numpy
+      ry-info
       ry-test
 
 ## Installation from source with real Franka & realsense support

{robotic-0.3.1.dist-info → robotic-0.3.1.dev1.dist-info}/RECORD

@@ -1,10 +1,10 @@
-robotic/DataGen.pyi,sha256=Psut6_CMYC1lkRWIfpem1vjiHeDA1bDRYh5WmALUuDw,3239
+robotic/DataGen.pyi,sha256=qDQjATpbIgFvOrWk7F3ZTVbOuyXjT5nwHxrsRfGxWRU,3716
 robotic/__init__.py,sha256=H8Qi-wA95h6SuziEFNZFEt6Tpt5UrttS9ftBjZCsMm4,421
-robotic/_robotic.pyi,sha256=WGPudISms8zNXQ3iWmDDyPy5zxDFdXqkWRulQPlRByw,74355
-robotic/_robotic.so,sha256=7BzrwbGepsN1gDQMJ4oRPXPrQCKtxHi9y3_bF9m5l5k,1222472
-robotic/librai.so,sha256=jLZRs6pakYH_QOAbZLaW-2m_N_Tdw8fFovbE3pz5vGw,38705536
+robotic/_robotic.pyi,sha256=Klp80NNepVEuO4LGDt8Dj1oFa2eQXUuBXVnIEni4_Y8,75449
+robotic/_robotic.so,sha256=YirDZkMs5CofYQoEW6d1Cn9jbYZAlCbCV9h8t55kDa0,1238792
+robotic/librai.so,sha256=-zPXuRJsGNEU-9WpW9rdHfTV6PzktZ3VfaxFQ0tS-6U,38717824
 robotic/manipulation.py,sha256=EhM_Zuv3vl8H4SBNqqYMD3NT9AzFUpOhr4PIzM4U7tM,22374
-robotic/meshTool,sha256=PmuUM1ia3Opa5JT8T7L7k9-ThYgdBNT2pALqudKh82g,52176
+robotic/meshTool,sha256=wxcOt_C3PAn2vbnMpGYm57rjrU4iZLoEriODlQResmg,52176
 robotic/mujoco-import.py,sha256=8eC8ldlFwnYQfqII3FVdWEQ7zd1PkSdAF-oyryIQtkY,231
 robotic/nlp.py,sha256=n9_hOj3i707DdL_r49Yd2eWyjsSOahW8DmJrEhQlNFw,3200
 robotic/render.py,sha256=OE1dvyWHD7Oyzk4wlhXZ7m3v3xxa3zAL5_LCV1RgJXk,4662
@@ -17,7 +17,7 @@ robotic/ry-urdfConvert.py,sha256=8Efnq3PU202rrZrVEZiGwzFOJdvrLjTJ2q-gnY6-tiU,255
 robotic/ry-view,sha256=T1Omn1QS7cNAtjQhBjMJTNz7aW5FgoOf9vBIfW0mFME,613
 robotic/test.py,sha256=8hiDRB2kB37hE5cZ7h26AJDnSGYb1y8DwOrcEGD_5Hc,620
 robotic/test.pyi,sha256=vVxwRSerjUG4bpB7pIhof7ZatrBqwg3Bj5voywa-YTI,917
-robotic/version.py,sha256=TZkGuMIRSRmUY3XCIs5owt2o60vXyqYMHWIkhx65uYE,22
+robotic/version.py,sha256=ee5r9ceLV_FxcfRiJUTpXgWH7pgTJpybqp6_A8CMpkc,27
 robotic/include/rai/Algo/MLcourse.h,sha256=TGkAJWC5ollGfPw0-gcYL0TZeDJiHtWFzkHSMK8_lqU,1828
 robotic/include/rai/Algo/RidgeRegression.h,sha256=VXiv6-xr3j--CN7DJTzUg9Xb49zV9FZ9dwzxP1CmcPM,3730
 robotic/include/rai/Algo/SplineCtrlFeed.h,sha256=9ZtYLHXx9sExj0lZV6F5ZWaCtkm0R4hMiYb-KJjktnc,3339
@@ -60,7 +60,7 @@ robotic/include/rai/Core/lapack/cblas.h,sha256=4bSmMzZ4idIPlmcwjw5HuwY1cs5RU73Zw
 robotic/include/rai/Core/lapack/clapack.h,sha256=8rLteHzzGpKhJZXv4Eom9mk8lzbwRwjJuIqJuR1eePc,343373
 robotic/include/rai/Core/lapack/lapacke.h,sha256=cpP6MEjkLGyhS8mV6ysRlTVeUam6f8zBgFUJB1phuwM,1045408
 robotic/include/rai/DataGen/rndStableConfigs.h,sha256=bIz2RovkruMjYaaDwJIkyevsF6oV16y7dhyKm6sp_6s,391
-robotic/include/rai/DataGen/shapenetGrasps.h,sha256=QWv85YMGtW_X9ldKu4eZuoRNdQeIYtVTx1XIsk3Pbvg,1589
+robotic/include/rai/DataGen/shapenetGrasps.h,sha256=NlpKWicgaylzw1si7EPzeM7cE_-V9jvhB4mK1Slmt8E,1620
 robotic/include/rai/Geo/assimpInterface.h,sha256=2Jg7v2GZ83nz4kkgPLzbSWTIBmL9nZg-LhMlWcjiF_o,1055
 robotic/include/rai/Geo/depth2PointCloud.h,sha256=0mXJnTk0sMB--KDE9CO_2gKgGw4gHXUe7xg6DcROhvk,1168
 robotic/include/rai/Geo/fclInterface.h,sha256=d89JFW3WKI64gOdQSGs6uFdE7NcMavNg89BMHhzMDac,984
@@ -90,10 +90,10 @@ robotic/include/rai/Geo/ply/ply.h,sha256=_oAXgQ5CyHvUMtPDBxYtOBbnKDVoZf5PKMswisq
 robotic/include/rai/Geo/vhacd/VHACD.h,sha256=QT_cT6PPzec_mxKODsS9cJGr6nBt6S8cUJF7dCeBQCc,258343
 robotic/include/rai/Gui/RenderData.h,sha256=SQEJbq1lTdCBsbMx8Yo6Dk_EPpQ2pNxM5l9D9xVU-qk,4986
 robotic/include/rai/Gui/color.h,sha256=4ElBkpWgwBuqQEFD4Mdhv_afZE4ul6NkptwFQ2oDS5o,2596
-robotic/include/rai/Gui/opengl.h,sha256=d0Ww1xnRb0JMxzGNzVwQT0F2MDQuD5VJCWOvDXYudm8,9024
+robotic/include/rai/Gui/opengl.h,sha256=eFp5yfBh0sjqzGQ6xqeZdadsQzwYYVgeur_GMpmEdWA,9091
 robotic/include/rai/Gui/plot.h,sha256=xhTBY84UN4KpgZsX7SJQGqVKd1jU7jojGVKFv02v0xU,2341
 robotic/include/rai/KOMO/PathSmoother.h,sha256=y-t3yVEZvxfQIs8_EA-WI7FJ_RzfbG8TEfdiNAruuUI,813
-robotic/include/rai/KOMO/komo.h,sha256=9p3lX7X1mr-EYclUzCWQDMagI_ac-Silo0LtTuOXoJY,13389
+robotic/include/rai/KOMO/komo.h,sha256=q4BhbBXiV3hrI05iqJdMIKYcqFVrozo2fmEIDY1PpDA,13395
 robotic/include/rai/KOMO/komo_NLP.h,sha256=kSzUMDmw4yzAXtpNB2v38dpw2tBS8n8R_op_T3yS3DQ,3681
 robotic/include/rai/KOMO/manipTools.h,sha256=WMdCxQB2rTcb3kzbiW9CHDpmGJZcKRqAnT861_iTsH4,4233
 robotic/include/rai/KOMO/objective.h,sha256=Cl4-KjheRMNWoh_xFas5tLWMKSMlJf-HLDihfqvfcSw,2704
@@ -117,15 +117,15 @@ robotic/include/rai/Kin/dof_particles.h,sha256=PboLndC5a5extUKAfUPAIsJEGTTs6_ACD
 robotic/include/rai/Kin/dof_path.h,sha256=XRPj3bH90JUIdkTS4jxwbAb5n9yAsRoemWUWUV1xDtQ,792
 robotic/include/rai/Kin/feature.h,sha256=xicsrElMcYnYXdIXdO5LBLmXxvCGVUVgZJY2NIarO5I,3935
 robotic/include/rai/Kin/featureSymbols.h,sha256=JVXbXoW43PlEGOgwHPpULlbXUQzkl79F1EFnfl-0wyk,1984
-robotic/include/rai/Kin/frame.h,sha256=p7uRLEqhrxwKkCOEykOX8GYgl4lQqjG3hheKEAAi4XI,14585
-robotic/include/rai/Kin/kin.h,sha256=g-b4adXdOVmQcQ4gwQCWz1n-llhUCUVvm2JLBNa0DwA,16235
+robotic/include/rai/Kin/frame.h,sha256=xqNwSGPxCmGOgCEtMZmeE80RJLXcHdpJRHWIkxbqCwU,14617
+robotic/include/rai/Kin/kin.h,sha256=FB_nitzdTEMldqwTtJZVPKh4t1M9blrcEv9Q-jiaih8,16114
 robotic/include/rai/Kin/kin_bullet.h,sha256=y8aApXpXY4bD5QN_WmDAU2vNEvvbdo1Rd4zY7qo-FKE,1970
 robotic/include/rai/Kin/kin_feather.h,sha256=o-hOJA8UcmIBKx_qPzoG9R7fxzz-4zhBNMBmBTK21oA,1627
 robotic/include/rai/Kin/kin_ode.h,sha256=zwB8Le1WMGRkQBc9bssndJICkjO1lZ_y1aZKCwP4c1Y,3686
 robotic/include/rai/Kin/kin_physx.h,sha256=QfYi_-dIvVm7dFgG2SA3csHeb0peRMEhrf-I6pFOMPQ,1832
 robotic/include/rai/Kin/proxy.h,sha256=jfFQrvokqvt8bGYEzGQoD2ZpnuWuLzCeOjFfUvdxcx0,1473
-robotic/include/rai/Kin/simulation.h,sha256=imCDImhfBDFqAQUospERxhlkEOwb-Pzq415QcrQ8xVI,5258
-robotic/include/rai/Kin/viewer.h,sha256=GzObhDzEnIBYH0Yu_wCX8Cm2GAN5wuk-El09b2Vy_8w,2031
+robotic/include/rai/Kin/simulation.h,sha256=oXaLa1VJXdhtsCFl6OGtAlT3PuCY9gg1OJVqZmRwOWA,5324
+robotic/include/rai/Kin/viewer.h,sha256=07Ul8z4dOjQC8cnz5fs3qjJT1Oulj5saF_kjl2Z4kek,2366
 robotic/include/rai/LGP/LGP_SkeletonTool.h,sha256=T4lXAUxY2QFo_ETZEm7RqRzfmU6NAHdVcow8qj_8-9Y,3240
 robotic/include/rai/LGP/LGP_Tool.h,sha256=vcQ3ixwJ4wepPDX8ZGkDBKGIpchJQWMOoMu82_cS_8I,4230
 robotic/include/rai/LGP/LGP_computers.h,sha256=paoCbDZnIo7OUeHKo5qkzTkKy1RIzDZocg4p6SXoObk,6480
@@ -238,7 +238,7 @@ robotic/rai-robotModels/panda/panda_arm_hand_conv.g,sha256=BVDQNIAwPB45rrvLX-WYw
 robotic/rai-robotModels/panda/panda_arm_hand_conv.yml,sha256=_YP4vVVKeScSPNLRRkkiH2fnHuFUQgt12O1RnWV5mTY,2486
 robotic/rai-robotModels/panda/panda_clean.g,sha256=6EShzBmEa2R5sJRhnGRXwLWcyjRybFY3Su-hdwz55yw,3168
 robotic/rai-robotModels/panda/panda_deformable.g,sha256=DvkhnJYSXc1S_GRBM3iJOm6WovKYrsckzAW-rXxLqH8,6037
-robotic/rai-robotModels/panda/panda_gripper.g,sha256=CB_rY6PUTdpgNsSvvAQ967t2Sm6r0B59rUqaVCZCmvA,862
+robotic/rai-robotModels/panda/panda_gripper.g,sha256=qdVvPLq8LNkcXFNVfLcYBLNvcgAt7UN3qaTYgCevi7o,846
 robotic/rai-robotModels/panda/panda_withoutCollisionModels.g,sha256=RPJawK8POmG_Hyc92XcprQbFArEryQWM8O6IB5zcSYQ,278
 robotic/rai-robotModels/panda/meshes/finger.h5,sha256=hzqxoufYkW0_qDgVH4ZCx7vwCeZF4s3qe0KpMyXf3Lw,12994
 robotic/rai-robotModels/panda/meshes/hand.h5,sha256=lbiphvOO3NKhuBW6kexfbfArDcNKqpqDM9yS_bmFdss,100882
@@ -317,7 +317,7 @@ robotic/rai-robotModels/scenarios/k00.g,sha256=Bjei9rYaLLwOhOSHFjaDGc7LFDraL8sxQ
 robotic/rai-robotModels/scenarios/kswing.g,sha256=k1bND_Hr-lE5sklOraw58HdUye6iW8jTdjBUwbyRCRM,3995
 robotic/rai-robotModels/scenarios/liftRing.g,sha256=fRKPEfUH_kDL4r7PmpO0kB2t1KeLV9QypxEEN_BNrqQ,1349
 robotic/rai-robotModels/scenarios/mobileMini.g,sha256=I7SE9YUUciZ1JrJG6BIAZ9Oho_eUa_Z76l5_h-B0wjY,1158
-robotic/rai-robotModels/scenarios/pandaFloatingGripper.g,sha256=zYo9T6aFWREpP2gnME0iFwOErKR8Ram2gndnZ9s-xXA,1498
+robotic/rai-robotModels/scenarios/pandaFloatingGripper.g,sha256=emCRjAxW1XAo9teBjjxvnM4C3JiCWPfiptFFr3swwfE,1508
 robotic/rai-robotModels/scenarios/pandaSingle.g,sha256=H_UnXdMUbk16os9StOZB0PZMPL3FaGbCAZy0uUAKEKA,1147
 robotic/rai-robotModels/scenarios/panda_fixGripper.g,sha256=bhkRey6igLb18HlOFj7CpAjqF6R7Z3saxevipHAn4W0,337
 robotic/rai-robotModels/scenarios/panda_fixRobotiq.g,sha256=QVLpZCchSnoouayhIoVQcaWYHaZGVn4pIlj6nkFDHjs,1564
@@ -353,18 +353,18 @@ robotic/src/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 robotic/src/cleanMeshes.py,sha256=42T9WwN_cn4u_s_BzN2eRfBQxmZTEQ6ZYPBtsesA5BM,1678
 robotic/src/mesh_helper.py,sha256=AMSOz3Eew9uJkDm5tFThbfJKcEQCmGyRLN4bZphISNk,16691
 robotic/src/meshlabFilters.mlx,sha256=SCIiIk7XZusvKEKY62pHSem_R3TcMUP8BFaLTVUcnEg,3833
-robotic/src/mujoco_io.py,sha256=uJ0-ZztwlFiP3ZQvHCKf5DdtkpBMsVT--d332qV9rNQ,9474
+robotic/src/mujoco_io.py,sha256=drLNE4yo30hpOY01-AsuCWKLvNoG5w2YDSzR_rlyfz0,9474
 robotic/src/urdf_io.py,sha256=bbPcJWS9rnYk8CWgEZTmx1XJRBIDrfwgCj-S_RFxl9U,8800
 robotic/src/yaml_helper.py,sha256=eCUK6w4FCRpBqNgP7FdVDbJf2H7Y1bfIGzs89nOrAsY,637
-robotic-0.3.1.data/scripts/ry-bot,sha256=LBNbbQeNNNd_tupI5463Xe-RKSD6xy4HGTbJloisCGk,2280
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-robotic-0.3.1.data/scripts/ry-meshTool,sha256=h4f4wFPNaey3ziz870SrEvy6SsQSL-ZnR_cH3UuAZxE,101
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-robotic-0.3.1.data/scripts/ry-urdfConvert.py,sha256=762MIDmAhdCCj55QftY7wsy9gOEs-TDEWcRPt5dECyc,2542
-robotic-0.3.1.data/scripts/ry-view,sha256=_GjUbVS2X3AWnlXqIHwU5dofLmUKA2-NUPySgS-QJNI,599
-robotic-0.3.1.dist-info/LICENSE,sha256=oT-pAsUSXiuMq2_3omR87-GFBeBnegQYixH4Bm_7wag,1071
-robotic-0.3.1.dist-info/METADATA,sha256=psfK9WyD1JM5cOUr8dLYLmvzAHojHhj3eGctKvz64yI,6346
-robotic-0.3.1.dist-info/WHEEL,sha256=rxKmMK2tk-0XikPyvYWdvWiQiwwfnpvkbvkHpHVHavU,102
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-robotic-0.3.1.dist-info/RECORD,,
+robotic-0.3.1.dev1.data/scripts/ry-bot,sha256=LBNbbQeNNNd_tupI5463Xe-RKSD6xy4HGTbJloisCGk,2280
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